Vision-based plane estimation and following for building inspection with autonomous UAV
In this article, we focus on enabling the autonomous perception and control of a small unmanned aerial vehicle (UAV) for a façade inspection task. Specifically, we consider the perception as a planar object pose estimation problem by simplifying the building structure as a concatenation of plane...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/182129 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | In this article, we focus on enabling the autonomous
perception and control of a small unmanned aerial vehicle (UAV)
for a façade inspection task. Specifically, we consider the perception
as a planar object pose estimation problem by simplifying
the building structure as a concatenation of planes, and the control
as an optimal reference tracking control problem. First, a
vision-based adaptive observer is proposed for plane pose estimation
which converges fast and is insensitive to noise under
very mild observation conditions. Second, a model predictive controller
(MPC) is designed to achieve stable plane following and
smooth transition in a multiple-plane scenario, while the persistent
excitation (PE) condition of the observer and the maneuver
constraints of the UAV are satisfied. The stability of the observer
and the MPC controller is also investigated to ensure theoretical
completeness. The proposed autonomous plane pose estimation
and plane tracking methods are tested in both simulation and
practical building façade inspection scenarios, which demonstrate
their effectiveness and practicability. |
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